@woosh/meep-engine 2.141.0 → 2.142.0

package/src/engine/physics/ecs/Joint.d.ts

@@ -82,6 +82,18 @@ export class Joint {
      * @type {Uint8Array}
      */
     readonly dofMode: Uint8Array;
+    /**
+     * How the three angular DOF positions are measured. `false` (default) uses
+     * the per-axis small-angle rotation vector — exact at the rest pose and
+     * cheap, correct for welds, hinges, and modest angular limits. `true`
+     * switches to the **swing-twist** decomposition: angular X is the *twist*
+     * (rotation about the bone / X axis) and angular Y/Z are the *swing* (tilt
+     * off it), each measured as an exact angle. Use it for wide cone-twist
+     * range-of-motion (ragdoll shoulders) where the small-angle measure
+     * under-reports large angles. See {@link asConeTwist}.
+     * @type {boolean}
+     */
+    swingTwist: boolean;
     /**
      * Lower / upper bounds per DOF, used by {@link DofMode.LIMITED}. Linear in
      * metres, angular in radians. (Reserved — consumed once the LIMITED mode
@@ -165,6 +177,109 @@ export class Joint {
      * @returns {Joint} this
      */
     asPrismatic(freeLinearAxis?: number): Joint;
+    /**
+     * Configure as a cone-twist (ragdoll) joint: a ball-socket point (3 linear
+     * locked) whose angular motion is a limited **twist** about the bone (frame
+     * X) and a limited **swing** cone off it (frame Y / Z). Enables
+     * {@link swingTwist} so the limits are measured as exact angles, holding
+     * accurately at the wide ranges ragdoll shoulders need.
+     *
+     * Orient {@link localBasisA} / {@link localBasisB} so frame X runs along the
+     * bone. The swing cone is box-shaped: independent Y and Z half-angles
+     * (`swingLimitZ` defaults to `swingLimitY` for a circular cone).
+     *
+     * @param {number} twistLower @param {number} twistUpper  twist bounds, rad.
+     * @param {number} swingLimitY  swing half-angle about frame Y, rad.
+     * @param {number} [swingLimitZ]  swing half-angle about frame Z, rad
+     *   (defaults to `swingLimitY`).
+     * @returns {Joint} this
+     */
+    asConeTwist(twistLower: number, twistUpper: number, swingLimitY: number, swingLimitZ?: number): Joint;
+    /**
+     * Limit a linear DOF to a travel range along its frame axis (slider
+     * end-stops): the DOF slides freely within `[lower, upper]` metres and is
+     * resisted at the stops. Sets {@link DofMode.LIMITED} on that axis.
+     *
+     * @param {number} axis  frame axis: 0 = x, 1 = y, 2 = z.
+     * @param {number} lower @param {number} upper  travel bounds in metres
+     *   (signed anchor-A offset from anchor-B along the frame axis).
+     * @returns {Joint} this
+     */
+    setLinearLimit(axis: number, lower: number, upper: number): Joint;
+    /**
+     * Limit an angular DOF to a rotation range about its frame axis (joint
+     * range-of-motion): free within `[lower, upper]` radians, resisted at the
+     * stops. Sets {@link DofMode.LIMITED} on that angular axis.
+     *
+     * The angular position is a first-order (small-angle) measure, so the
+     * effective stop is accurate for modest ranges (hinge / slider end-stops)
+     * but under-reports large angles — wide cones (ragdoll shoulders) want the
+     * swing-twist decomposition (already available as
+     * `Quaternion.computeSwingAndTwist` / `computeTwistAngle`). See the solver
+     * module docs.
+     *
+     * @param {number} axis  frame axis: 0 = x, 1 = y, 2 = z.
+     * @param {number} lower @param {number} upper  rotation bounds in radians.
+     * @returns {Joint} this
+     */
+    setAngularLimit(axis: number, lower: number, upper: number): Joint;
+    /**
+     * Drive a linear DOF at a target speed along its frame axis (piston,
+     * conveyor, powered slider). A force-limited velocity servo: it pulls the
+     * relative velocity toward `targetVelocity` as hard as `maxForce` allows.
+     * Sets {@link DofMode.MOTOR} on that axis.
+     *
+     * @param {number} axis  frame axis: 0 = x, 1 = y, 2 = z.
+     * @param {number} targetVelocity  desired relative anchor speed of A w.r.t.
+     *   B along the frame axis, m/s (sign convention A − B).
+     * @param {number} maxForce  force budget in newtons (`Infinity` for an
+     *   ideal velocity drive; `0` makes the motor inert).
+     * @returns {Joint} this
+     */
+    setLinearMotor(axis: number, targetVelocity: number, maxForce: number): Joint;
+    /**
+     * Drive an angular DOF at a target rate about its frame axis (wheel drive,
+     * powered hinge / door, turntable). A force-(torque-)limited velocity servo
+     * pulling the relative angular velocity toward `targetVelocity`. Sets
+     * {@link DofMode.MOTOR} on that angular axis.
+     *
+     * @param {number} axis  frame axis: 0 = x, 1 = y, 2 = z.
+     * @param {number} targetVelocity  desired relative angular rate of B w.r.t.
+     *   A about the frame axis, rad/s (sign convention B − A — so for a
+     *   world-anchored motor a positive target spins body A negatively about
+     *   the axis).
+     * @param {number} maxForce  torque budget in newton-metres (`Infinity` for
+     *   an ideal drive; `0` makes the motor inert).
+     * @returns {Joint} this
+     */
+    setAngularMotor(axis: number, targetVelocity: number, maxForce: number): Joint;
+    /**
+     * Make a linear DOF a compliant spring along its frame axis (suspension,
+     * bungee, soft-return slider). The spring drives the DOF toward its zero
+     * (the rest pose — place the anchors / basis so the relaxed position is
+     * `C·axis = 0`) with stiffness and damping, yielding under load rather than
+     * holding rigid. Sets {@link DofMode.SPRING} on that axis.
+     *
+     * @param {number} axis  frame axis: 0 = x, 1 = y, 2 = z.
+     * @param {number} stiffness  spring constant `k`, N/m (0 ⇒ pure damper).
+     * @param {number} damping    damping coefficient `c`, N·s/m (0 ⇒ undamped).
+     * @returns {Joint} this
+     */
+    setLinearSpring(axis: number, stiffness: number, damping: number): Joint;
+    /**
+     * Make an angular DOF a compliant torsional spring about its frame axis
+     * (soft-return hinge, sway bar, soft ragdoll joint). Drives the relative
+     * rotation about the axis toward zero with stiffness and damping. Sets
+     * {@link DofMode.SPRING} on that angular axis. Uses the small-angle measure
+     * (see the solver module docs), so it is for modest ranges.
+     *
+     * @param {number} axis  frame axis: 0 = x, 1 = y, 2 = z.
+     * @param {number} stiffness  torsional spring constant `k`, N·m/rad
+     *   (0 ⇒ pure damper).
+     * @param {number} damping    torsional damping, N·m·s/rad (0 ⇒ undamped).
+     * @returns {Joint} this
+     */
+    setAngularSpring(axis: number, stiffness: number, damping: number): Joint;
     /**
      * @readonly
      * @type {boolean}

package/src/engine/physics/ecs/Joint.d.ts.map

@@ -1 +1 @@
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package/src/engine/physics/ecs/Joint.js

@@ -99,6 +99,19 @@ export class Joint {
         DofMode.FREE, DofMode.FREE, DofMode.FREE,
     ]);
 
+    /**
+     * How the three angular DOF positions are measured. `false` (default) uses
+     * the per-axis small-angle rotation vector — exact at the rest pose and
+     * cheap, correct for welds, hinges, and modest angular limits. `true`
+     * switches to the **swing-twist** decomposition: angular X is the *twist*
+     * (rotation about the bone / X axis) and angular Y/Z are the *swing* (tilt
+     * off it), each measured as an exact angle. Use it for wide cone-twist
+     * range-of-motion (ragdoll shoulders) where the small-angle measure
+     * under-reports large angles. See {@link asConeTwist}.
+     * @type {boolean}
+     */
+    swingTwist = false;
+
     /**
      * Lower / upper bounds per DOF, used by {@link DofMode.LIMITED}. Linear in
      * metres, angular in radians. (Reserved — consumed once the LIMITED mode
@@ -219,6 +232,161 @@ export class Joint {
         this.dofMode[5] = DofMode.LOCKED;
         return this;
     }
+
+    /**
+     * Configure as a cone-twist (ragdoll) joint: a ball-socket point (3 linear
+     * locked) whose angular motion is a limited **twist** about the bone (frame
+     * X) and a limited **swing** cone off it (frame Y / Z). Enables
+     * {@link swingTwist} so the limits are measured as exact angles, holding
+     * accurately at the wide ranges ragdoll shoulders need.
+     *
+     * Orient {@link localBasisA} / {@link localBasisB} so frame X runs along the
+     * bone. The swing cone is box-shaped: independent Y and Z half-angles
+     * (`swingLimitZ` defaults to `swingLimitY` for a circular cone).
+     *
+     * @param {number} twistLower @param {number} twistUpper  twist bounds, rad.
+     * @param {number} swingLimitY  swing half-angle about frame Y, rad.
+     * @param {number} [swingLimitZ]  swing half-angle about frame Z, rad
+     *   (defaults to `swingLimitY`).
+     * @returns {Joint} this
+     */
+    asConeTwist(twistLower, twistUpper, swingLimitY, swingLimitZ = swingLimitY) {
+        this.dofMode[0] = DofMode.LOCKED;
+        this.dofMode[1] = DofMode.LOCKED;
+        this.dofMode[2] = DofMode.LOCKED;
+        this.swingTwist = true;
+        this.dofMode[3] = DofMode.LIMITED;
+        this.dofLowerLimit[3] = twistLower;
+        this.dofUpperLimit[3] = twistUpper;
+        this.dofMode[4] = DofMode.LIMITED;
+        this.dofLowerLimit[4] = -swingLimitY;
+        this.dofUpperLimit[4] = swingLimitY;
+        this.dofMode[5] = DofMode.LIMITED;
+        this.dofLowerLimit[5] = -swingLimitZ;
+        this.dofUpperLimit[5] = swingLimitZ;
+        return this;
+    }
+
+    /**
+     * Limit a linear DOF to a travel range along its frame axis (slider
+     * end-stops): the DOF slides freely within `[lower, upper]` metres and is
+     * resisted at the stops. Sets {@link DofMode.LIMITED} on that axis.
+     *
+     * @param {number} axis  frame axis: 0 = x, 1 = y, 2 = z.
+     * @param {number} lower @param {number} upper  travel bounds in metres
+     *   (signed anchor-A offset from anchor-B along the frame axis).
+     * @returns {Joint} this
+     */
+    setLinearLimit(axis, lower, upper) {
+        this.dofMode[axis] = DofMode.LIMITED;
+        this.dofLowerLimit[axis] = lower;
+        this.dofUpperLimit[axis] = upper;
+        return this;
+    }
+
+    /**
+     * Limit an angular DOF to a rotation range about its frame axis (joint
+     * range-of-motion): free within `[lower, upper]` radians, resisted at the
+     * stops. Sets {@link DofMode.LIMITED} on that angular axis.
+     *
+     * The angular position is a first-order (small-angle) measure, so the
+     * effective stop is accurate for modest ranges (hinge / slider end-stops)
+     * but under-reports large angles — wide cones (ragdoll shoulders) want the
+     * swing-twist decomposition (already available as
+     * `Quaternion.computeSwingAndTwist` / `computeTwistAngle`). See the solver
+     * module docs.
+     *
+     * @param {number} axis  frame axis: 0 = x, 1 = y, 2 = z.
+     * @param {number} lower @param {number} upper  rotation bounds in radians.
+     * @returns {Joint} this
+     */
+    setAngularLimit(axis, lower, upper) {
+        this.dofMode[3 + axis] = DofMode.LIMITED;
+        this.dofLowerLimit[3 + axis] = lower;
+        this.dofUpperLimit[3 + axis] = upper;
+        return this;
+    }
+
+    /**
+     * Drive a linear DOF at a target speed along its frame axis (piston,
+     * conveyor, powered slider). A force-limited velocity servo: it pulls the
+     * relative velocity toward `targetVelocity` as hard as `maxForce` allows.
+     * Sets {@link DofMode.MOTOR} on that axis.
+     *
+     * @param {number} axis  frame axis: 0 = x, 1 = y, 2 = z.
+     * @param {number} targetVelocity  desired relative anchor speed of A w.r.t.
+     *   B along the frame axis, m/s (sign convention A − B).
+     * @param {number} maxForce  force budget in newtons (`Infinity` for an
+     *   ideal velocity drive; `0` makes the motor inert).
+     * @returns {Joint} this
+     */
+    setLinearMotor(axis, targetVelocity, maxForce) {
+        this.dofMode[axis] = DofMode.MOTOR;
+        this.dofMotorTargetVelocity[axis] = targetVelocity;
+        this.dofMotorMaxForce[axis] = maxForce;
+        return this;
+    }
+
+    /**
+     * Drive an angular DOF at a target rate about its frame axis (wheel drive,
+     * powered hinge / door, turntable). A force-(torque-)limited velocity servo
+     * pulling the relative angular velocity toward `targetVelocity`. Sets
+     * {@link DofMode.MOTOR} on that angular axis.
+     *
+     * @param {number} axis  frame axis: 0 = x, 1 = y, 2 = z.
+     * @param {number} targetVelocity  desired relative angular rate of B w.r.t.
+     *   A about the frame axis, rad/s (sign convention B − A — so for a
+     *   world-anchored motor a positive target spins body A negatively about
+     *   the axis).
+     * @param {number} maxForce  torque budget in newton-metres (`Infinity` for
+     *   an ideal drive; `0` makes the motor inert).
+     * @returns {Joint} this
+     */
+    setAngularMotor(axis, targetVelocity, maxForce) {
+        this.dofMode[3 + axis] = DofMode.MOTOR;
+        this.dofMotorTargetVelocity[3 + axis] = targetVelocity;
+        this.dofMotorMaxForce[3 + axis] = maxForce;
+        return this;
+    }
+
+    /**
+     * Make a linear DOF a compliant spring along its frame axis (suspension,
+     * bungee, soft-return slider). The spring drives the DOF toward its zero
+     * (the rest pose — place the anchors / basis so the relaxed position is
+     * `C·axis = 0`) with stiffness and damping, yielding under load rather than
+     * holding rigid. Sets {@link DofMode.SPRING} on that axis.
+     *
+     * @param {number} axis  frame axis: 0 = x, 1 = y, 2 = z.
+     * @param {number} stiffness  spring constant `k`, N/m (0 ⇒ pure damper).
+     * @param {number} damping    damping coefficient `c`, N·s/m (0 ⇒ undamped).
+     * @returns {Joint} this
+     */
+    setLinearSpring(axis, stiffness, damping) {
+        this.dofMode[axis] = DofMode.SPRING;
+        this.dofStiffness[axis] = stiffness;
+        this.dofDamping[axis] = damping;
+        return this;
+    }
+
+    /**
+     * Make an angular DOF a compliant torsional spring about its frame axis
+     * (soft-return hinge, sway bar, soft ragdoll joint). Drives the relative
+     * rotation about the axis toward zero with stiffness and damping. Sets
+     * {@link DofMode.SPRING} on that angular axis. Uses the small-angle measure
+     * (see the solver module docs), so it is for modest ranges.
+     *
+     * @param {number} axis  frame axis: 0 = x, 1 = y, 2 = z.
+     * @param {number} stiffness  torsional spring constant `k`, N·m/rad
+     *   (0 ⇒ pure damper).
+     * @param {number} damping    torsional damping, N·m·s/rad (0 ⇒ undamped).
+     * @returns {Joint} this
+     */
+    setAngularSpring(axis, stiffness, damping) {
+        this.dofMode[3 + axis] = DofMode.SPRING;
+        this.dofStiffness[3 + axis] = stiffness;
+        this.dofDamping[3 + axis] = damping;
+        return this;
+    }
 }
 
 /**

package/src/engine/physics/narrowphase/ray_shapes.d.ts

@@ -0,0 +1,66 @@
+/**
+ * # Local-frame ray ↔ primitive intersections (raycast narrowphase)
+ *
+ * Each function intersects a ray, **expressed in the shape's local frame**,
+ * against a canonical primitive at the origin (sphere at the origin; box
+ * axis-aligned spanning `[-h, +h]`; capsule along the local Y axis). They
+ * return the hit distance `t` along the ray (`Infinity` on a miss) and write
+ * the **local** outward surface normal (unit) into `outNormal[0..2]`.
+ *
+ * The ray-narrowphase dispatch transforms the world ray into the body's local
+ * frame once (rotate by the inverse body rotation — a unit direction stays
+ * unit, so `t` is preserved), calls the matching primitive, then rotates the
+ * returned local normal back to world. Keeping the primitives canonical lets
+ * the box and capsule tests be axis-aligned (cheap slab / cylinder math) and
+ * shares a single transform across them.
+ *
+ * Conventions:
+ *  - the ray direction is unit length (the caller guarantees it);
+ *  - the first surface crossing at or after the origin within `tMax` is
+ *    returned; a ray starting inside the shape returns its exit crossing;
+ *  - the normal is the geometric outward surface normal at the hit.
+ *
+ * @author Alex Goldring
+ * @copyright Company Named Limited (c) 2026
+ */
+/**
+ * Ray vs a sphere of radius `r` centred at the local origin.
+ *
+ * @param {Float64Array} outNormal length-3, written on hit
+ * @param {number} ox @param {number} oy @param {number} oz  ray origin (local)
+ * @param {number} dx @param {number} dy @param {number} dz  ray dir (local, unit)
+ * @param {number} tMax
+ * @param {number} r  sphere radius
+ * @returns {number} hit distance, or `Infinity` on miss
+ */
+export function ray_sphere_local(outNormal: Float64Array, ox: number, oy: number, oz: number, dx: number, dy: number, dz: number, tMax: number, r: number): number;
+/**
+ * Ray vs an axis-aligned box spanning `[-hx,hx] × [-hy,hy] × [-hz,hz]` at the
+ * local origin (the canonical pose of {@link BoxShape3D}). Slab method, with
+ * the entry (or, origin-inside, exit) face's outward normal.
+ *
+ * @param {Float64Array} outNormal length-3, written on hit
+ * @param {number} ox @param {number} oy @param {number} oz  ray origin (local)
+ * @param {number} dx @param {number} dy @param {number} dz  ray dir (local, unit)
+ * @param {number} tMax
+ * @param {number} hx @param {number} hy @param {number} hz  half-extents
+ * @returns {number} hit distance, or `Infinity` on miss
+ */
+export function ray_box_local(outNormal: Float64Array, ox: number, oy: number, oz: number, dx: number, dy: number, dz: number, tMax: number, hx: number, hy: number, hz: number): number;
+/**
+ * Ray vs a capsule along the local Y axis: a cylinder of radius `r` over
+ * `y ∈ [−hh, hh]` capped by hemispheres of radius `r` at `(0, ±hh, 0)` — the
+ * canonical pose of {@link CapsuleShape3D} (`hh = height/2`). Tests the
+ * infinite cylinder (clamped to the segment) and the two cap spheres, taking
+ * the nearest valid crossing.
+ *
+ * @param {Float64Array} outNormal length-3, written on hit
+ * @param {number} ox @param {number} oy @param {number} oz  ray origin (local)
+ * @param {number} dx @param {number} dy @param {number} dz  ray dir (local, unit)
+ * @param {number} tMax
+ * @param {number} r   capsule radius
+ * @param {number} hh  half-height of the cylindrical section (`height/2`)
+ * @returns {number} hit distance, or `Infinity` on miss
+ */
+export function ray_capsule_local(outNormal: Float64Array, ox: number, oy: number, oz: number, dx: number, dy: number, dz: number, tMax: number, r: number, hh: number): number;
+//# sourceMappingURL=ray_shapes.d.ts.map

package/src/engine/physics/narrowphase/ray_shapes.d.ts.map

@@ -0,0 +1 @@
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package/src/engine/physics/narrowphase/ray_shapes.js

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+/**
+ * # Local-frame ray ↔ primitive intersections (raycast narrowphase)
+ *
+ * Each function intersects a ray, **expressed in the shape's local frame**,
+ * against a canonical primitive at the origin (sphere at the origin; box
+ * axis-aligned spanning `[-h, +h]`; capsule along the local Y axis). They
+ * return the hit distance `t` along the ray (`Infinity` on a miss) and write
+ * the **local** outward surface normal (unit) into `outNormal[0..2]`.
+ *
+ * The ray-narrowphase dispatch transforms the world ray into the body's local
+ * frame once (rotate by the inverse body rotation — a unit direction stays
+ * unit, so `t` is preserved), calls the matching primitive, then rotates the
+ * returned local normal back to world. Keeping the primitives canonical lets
+ * the box and capsule tests be axis-aligned (cheap slab / cylinder math) and
+ * shares a single transform across them.
+ *
+ * Conventions:
+ *  - the ray direction is unit length (the caller guarantees it);
+ *  - the first surface crossing at or after the origin within `tMax` is
+ *    returned; a ray starting inside the shape returns its exit crossing;
+ *  - the normal is the geometric outward surface normal at the hit.
+ *
+ * @author Alex Goldring
+ * @copyright Company Named Limited (c) 2026
+ */
+
+/**
+ * Ray vs a sphere of radius `r` centred at the local origin.
+ *
+ * @param {Float64Array} outNormal length-3, written on hit
+ * @param {number} ox @param {number} oy @param {number} oz  ray origin (local)
+ * @param {number} dx @param {number} dy @param {number} dz  ray dir (local, unit)
+ * @param {number} tMax
+ * @param {number} r  sphere radius
+ * @returns {number} hit distance, or `Infinity` on miss
+ */
+export function ray_sphere_local(outNormal, ox, oy, oz, dx, dy, dz, tMax, r) {
+    // |o + t·d|² = r², d unit → t² + 2(o·d)t + (|o|² − r²) = 0.
+    const b = ox * dx + oy * dy + oz * dz;
+    const c = ox * ox + oy * oy + oz * oz - r * r;
+    const disc = b * b - c;
+    if (disc < 0) return Infinity;
+    const sq = Math.sqrt(disc);
+    let t = -b - sq;             // near root (entry)
+    if (t < 0) t = -b + sq;      // origin inside the sphere → far root (exit)
+    if (t < 0 || t > tMax) return Infinity;
+    const inv = 1 / r;
+    outNormal[0] = (ox + dx * t) * inv;
+    outNormal[1] = (oy + dy * t) * inv;
+    outNormal[2] = (oz + dz * t) * inv;
+    return t;
+}
+
+/**
+ * Ray vs an axis-aligned box spanning `[-hx,hx] × [-hy,hy] × [-hz,hz]` at the
+ * local origin (the canonical pose of {@link BoxShape3D}). Slab method, with
+ * the entry (or, origin-inside, exit) face's outward normal.
+ *
+ * @param {Float64Array} outNormal length-3, written on hit
+ * @param {number} ox @param {number} oy @param {number} oz  ray origin (local)
+ * @param {number} dx @param {number} dy @param {number} dz  ray dir (local, unit)
+ * @param {number} tMax
+ * @param {number} hx @param {number} hy @param {number} hz  half-extents
+ * @returns {number} hit distance, or `Infinity` on miss
+ */
+export function ray_box_local(outNormal, ox, oy, oz, dx, dy, dz, tMax, hx, hy, hz) {
+    let tmin = -Infinity, tmax = Infinity;
+    let enterAxis = 0, enterSign = 0, exitAxis = 0, exitSign = 0;
+
+    // X slab.
+    if (dx !== 0) {
+        const inv = 1 / dx;
+        let tn = (-hx - ox) * inv, tf = (hx - ox) * inv, nsign = -1;
+        if (tn > tf) { const tmp = tn; tn = tf; tf = tmp; nsign = 1; }
+        if (tn > tmin) { tmin = tn; enterAxis = 0; enterSign = nsign; }
+        if (tf < tmax) { tmax = tf; exitAxis = 0; exitSign = -nsign; }
+    } else if (ox < -hx || ox > hx) {
+        return Infinity;
+    }
+    // Y slab.
+    if (dy !== 0) {
+        const inv = 1 / dy;
+        let tn = (-hy - oy) * inv, tf = (hy - oy) * inv, nsign = -1;
+        if (tn > tf) { const tmp = tn; tn = tf; tf = tmp; nsign = 1; }
+        if (tn > tmin) { tmin = tn; enterAxis = 1; enterSign = nsign; }
+        if (tf < tmax) { tmax = tf; exitAxis = 1; exitSign = -nsign; }
+    } else if (oy < -hy || oy > hy) {
+        return Infinity;
+    }
+    // Z slab.
+    if (dz !== 0) {
+        const inv = 1 / dz;
+        let tn = (-hz - oz) * inv, tf = (hz - oz) * inv, nsign = -1;
+        if (tn > tf) { const tmp = tn; tn = tf; tf = tmp; nsign = 1; }
+        if (tn > tmin) { tmin = tn; enterAxis = 2; enterSign = nsign; }
+        if (tf < tmax) { tmax = tf; exitAxis = 2; exitSign = -nsign; }
+    } else if (oz < -hz || oz > hz) {
+        return Infinity;
+    }
+
+    if (tmax < tmin || tmax < 0) return Infinity;
+
+    let t, axis, sign;
+    if (tmin >= 0) { t = tmin; axis = enterAxis; sign = enterSign; }
+    else { t = tmax; axis = exitAxis; sign = exitSign; } // origin inside the box
+
+    if (t > tMax) return Infinity;
+    outNormal[0] = 0; outNormal[1] = 0; outNormal[2] = 0;
+    outNormal[axis] = sign;
+    return t;
+}
+
+/**
+ * Ray vs a capsule along the local Y axis: a cylinder of radius `r` over
+ * `y ∈ [−hh, hh]` capped by hemispheres of radius `r` at `(0, ±hh, 0)` — the
+ * canonical pose of {@link CapsuleShape3D} (`hh = height/2`). Tests the
+ * infinite cylinder (clamped to the segment) and the two cap spheres, taking
+ * the nearest valid crossing.
+ *
+ * @param {Float64Array} outNormal length-3, written on hit
+ * @param {number} ox @param {number} oy @param {number} oz  ray origin (local)
+ * @param {number} dx @param {number} dy @param {number} dz  ray dir (local, unit)
+ * @param {number} tMax
+ * @param {number} r   capsule radius
+ * @param {number} hh  half-height of the cylindrical section (`height/2`)
+ * @returns {number} hit distance, or `Infinity` on miss
+ */
+export function ray_capsule_local(outNormal, ox, oy, oz, dx, dy, dz, tMax, r, hh) {
+    let best = Infinity;
+    let nx = 0, ny = 0, nz = 0;
+    const r2 = r * r;
+    const inv_r = 1 / r;
+
+    // --- Cylinder side (infinite cylinder about Y, projected to XZ). ---
+    const a = dx * dx + dz * dz;
+    if (a > 1e-12) {
+        const b = ox * dx + oz * dz;
+        const c = ox * ox + oz * oz - r2;
+        const disc = b * b - a * c;
+        if (disc >= 0) {
+            const sq = Math.sqrt(disc);
+            const inv_a = 1 / a;
+            // Both roots; the smaller non-negative one whose hit lies on the
+            // cylindrical section is the side contact.
+            const roots = (-b - sq) * inv_a;
+            const rootf = (-b + sq) * inv_a;
+            for (let i = 0; i < 2; i++) {
+                const t = i === 0 ? roots : rootf;
+                if (t < 0 || t >= best || t > tMax) continue;
+                const y = oy + dy * t;
+                if (y < -hh || y > hh) continue; // off the cylinder, onto a cap
+                best = t;
+                const px = ox + dx * t, pz = oz + dz * t;
+                nx = px * inv_r; ny = 0; nz = pz * inv_r;
+                break; // roots is the nearer; if it qualified we're done
+            }
+        }
+    }
+
+    // --- Cap spheres at (0, ±hh, 0), each valid only on its outer hemisphere. ---
+    for (let cap = 0; cap < 2; cap++) {
+        const cy = cap === 0 ? hh : -hh;
+        const oyc = oy - cy;
+        const bb = ox * dx + oyc * dy + oz * dz;
+        const cc = ox * ox + oyc * oyc + oz * oz - r2;
+        const disc = bb * bb - cc;
+        if (disc < 0) continue;
+        const sq = Math.sqrt(disc);
+        const tn = -bb - sq, tf = -bb + sq;
+        for (let i = 0; i < 2; i++) {
+            const t = i === 0 ? tn : tf;
+            if (t < 0 || t >= best || t > tMax) continue;
+            const hy = oy + dy * t;
+            // Only the hemisphere beyond the segment end belongs to this cap.
+            if (cap === 0 ? hy < hh : hy > -hh) continue;
+            best = t;
+            nx = (ox + dx * t) * inv_r;
+            ny = (hy - cy) * inv_r;
+            nz = (oz + dz * t) * inv_r;
+            break;
+        }
+    }
+
+    if (best === Infinity) return Infinity;
+    outNormal[0] = nx; outNormal[1] = ny; outNormal[2] = nz;
+    return best;
+}

package/src/engine/physics/narrowphase/refine_ray_concave.d.ts

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+/**
+ * @param {AbstractShape3D} shape  a concave shape (`is_convex === false`)
+ * @param {{x:number,y:number,z:number}} position
+ * @param {ArrayLike<number>} rotation  body rotation quaternion (x,y,z,w)
+ * @param {number} ox @param {number} oy @param {number} oz  ray origin (world)
+ * @param {number} dx @param {number} dy @param {number} dz  ray dir (world, unit)
+ * @param {number} tMax
+ * @param {Float64Array|Vector3} outNormal  world surface normal, written on hit
+ * @returns {number} hit distance, or `Infinity` on miss
+ */
+export function refine_ray_concave(shape: AbstractShape3D, position: {
+    x: number;
+    y: number;
+    z: number;
+}, rotation: ArrayLike<number>, ox: number, oy: number, oz: number, dx: number, dy: number, dz: number, tMax: number, outNormal: Float64Array | Vector3): number;
+//# sourceMappingURL=refine_ray_concave.d.ts.map

package/src/engine/physics/narrowphase/refine_ray_concave.d.ts.map

@@ -0,0 +1 @@
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